Contact-Implicit Trajectory Optimization with Hydroelastic Contact and iLQR

Vince Kurtz,Hai Lin,Vince Kurtz,Hai Lin

Contact-implicit trajectory optimization offers an appealing method of automatically generating complex and contact-rich behaviors for robot manipulation and locomotion. The scalability of such techniques has been limited, however, by the challenge of ensuring both numerical reliability and physical realism. In this paper, we present preliminary results suggesting that the Iterative Linear Quadrat...